Compute a joint space trajectory between two configurations

[**q**,**qd**,**qdd**] = jtraj(**q0**, **qf**, **m**) is a joint space trajectory **q** (MxN) where the joint
coordinates vary from **q0** (1xN) to **qf** (1xN). A quintic (5th order) polynomial is used
with default zero boundary conditions for velocity and acceleration.
Time is assumed to vary from 0 to 1 in **m** steps. Joint velocity and
acceleration can be optionally returned as **qd** (MxN) and **qdd** (MxN) respectively.
The trajectory **q**, **qd** and **qdd** are MxN matrices, with one row per time step,
and one column per joint.

[**q**,**qd**,**qdd**] = jtraj(**q0**, **qf**, **m**, **qd0**, **qdf**) as above but also specifies initial
and final joint velocity for the trajectory.

[**q**,**qd**,**qdd**] = jtraj(**q0**, **qf**, **T**) as above but the trajectory length is defined
by the length of the time vector **T** (Mx1).

[**q**,**qd**,**qdd**] = jtraj(**q0**, **qf**, **T**, **qd0**, **qdf**) as above but specifies initial and
final joint velocity for the trajectory and a time vector.

qplot, ctraj, SerialLink.jtraj

Robotics Toolbox for MATLAB © 1990-2014 Peter Corke.